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fix aruco id-setting bug, add creater marker tool

This commit is contained in:
jario 2023-12-11 00:04:05 +08:00
parent e5c00087ed
commit dd3216e19e
3 changed files with 259 additions and 1 deletions
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2
CMakeLists.txt
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@ -294,6 +294,8 @@ target_link_libraries(EvalModelOnCocoVal sv_world)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib) include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp) add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp)
target_link_libraries(CameraCalibrarion ${OpenCV_LIBS} sv_world) target_link_libraries(CameraCalibrarion ${OpenCV_LIBS} sv_world)
add_executable(CreateMarker samples/calib/create_marker.cpp)
target_link_libraries(CreateMarker ${OpenCV_LIBS})
message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}") message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
if (NOT DEFINED SV_INSTALL_PREFIX) if (NOT DEFINED SV_INSTALL_PREFIX)

3
algorithm/sv_algorithm_base.cpp
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@ -94,7 +94,8 @@ void ArucoDetector::_load()
// _detector_params = aruco::DetectorParameters::create(); // _detector_params = aruco::DetectorParameters::create();
_detector_params = new aruco::DetectorParameters; _detector_params = new aruco::DetectorParameters;
for (auto i : aruco_params_value) { for (auto i : aruco_params_value) {
if ("_dictionary_id" == std::string(i->key)) { if ("dictionaryId" == std::string(i->key)) {
// std::cout << "dictionary_id (old, new): " << _dictionary_id << ", " << i->value.toNumber() << std::endl;
_dictionary_id = i->value.toNumber(); _dictionary_id = i->value.toNumber();
} }
else if ("adaptiveThreshConstant" == std::string(i->key)) { else if ("adaptiveThreshConstant" == std::string(i->key)) {

255
samples/calib/create_marker.cpp Normal file
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@ -0,0 +1,255 @@
#include <opencv2/highgui.hpp>
#include <opencv2/objdetect/aruco_detector.hpp>
#include <iostream>
#include "aruco_samples_utility.hpp"
using namespace cv;
namespace {
const char* about = "Create an ArUco marker image";
//! [aruco_create_markers_keys]
const char* keys =
"{@outfile |<none> | Output image }"
"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
"{cd | | Input file with custom dictionary }"
"{id | | Marker id in the dictionary }"
"{ms | 200 | Marker size in pixels }"
"{bs | 50 | Border size in pixels }"
"{lp | 50 | Landing Pad Unit in pixels }"
"{bb | 1 | Number of bits in marker borders }"
"{si | false | show generated image }";
}
//! [aruco_create_markers_keys]
Mat create_marker_with_borders(aruco::Dictionary& dictionary, int markerId, int markerSize, int borderBits, int borderSize) {
Mat tmpImg;
aruco::generateImageMarker(dictionary, markerId, markerSize, tmpImg, borderBits);
Mat tmpImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
tmpImg.copyTo(tmpImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
tmpImg = tmpImgCopy;
return tmpImg;
}
int main(int argc, char *argv[]) {
CommandLineParser parser(argc, argv, keys);
parser.about(about);
if(argc < 4) {
parser.printMessage();
return 0;
}
int markerId = parser.get<int>("id");
int borderBits = parser.get<int>("bb");
int markerSize = parser.get<int>("ms");
bool showImage = parser.get<bool>("si");
int borderSize = 0;
if (parser.has("bs")) {
borderSize = parser.get<int>("bs");
}
int landingPadUnit = 0;
if (parser.has("lp")) {
landingPadUnit = parser.get<int>("lp");
borderSize = landingPadUnit;
borderBits = 1;
markerSize = landingPadUnit * 4;
}
String out = parser.get<String>(0);
if(!parser.check()) {
parser.printErrors();
return 0;
}
aruco::Dictionary dictionary = aruco::getPredefinedDictionary(0);
if (parser.has("d")) {
int dictionaryId = parser.get<int>("d");
dictionary = aruco::getPredefinedDictionary(aruco::PredefinedDictionaryType(dictionaryId));
}
else if (parser.has("cd")) {
FileStorage fs(parser.get<std::string>("cd"), FileStorage::READ);
bool readOk = dictionary.aruco::Dictionary::readDictionary(fs.root());
if(!readOk) {
std::cerr << "Invalid dictionary file" << std::endl;
return 0;
}
}
else {
std::cerr << "Dictionary not specified" << std::endl;
return 0;
}
Mat markerImg;
aruco::generateImageMarker(dictionary, markerId, markerSize, markerImg, borderBits);
if (borderSize > 0) {
Mat markerImgCopy = Mat::ones(borderSize * 2 + markerSize, borderSize * 2 + markerSize, CV_8UC1) * 255;
markerImg.copyTo(markerImgCopy(Rect(borderSize, borderSize, markerSize, markerSize)));
markerImg = markerImgCopy;
}
if (landingPadUnit > 0) {
Mat markerImgBIG = Mat::ones(landingPadUnit * 62, landingPadUnit * 62, CV_8UC1) * 255;
markerId = 0;
markerSize = landingPadUnit * 4;
borderSize = landingPadUnit;
int newSize = markerSize + borderSize * 2;
for (int i=0; i<3; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(i * landingPadUnit * 5, 0, newSize, newSize)));
}
for (int i=0; i<5; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18 + i * landingPadUnit * 5, 0, newSize, newSize)));
}
for (int i=0; i<3; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46 + i * landingPadUnit * 5, 0, newSize, newSize)));
}
for (int i=0; i<2; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 5 + i * landingPadUnit * 5, newSize, newSize)));
}
for (int i=0; i<5; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 18 + i * landingPadUnit * 5, newSize, newSize)));
}
for (int i=0; i<3; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 56, landingPadUnit * 46 + i * landingPadUnit * 5, newSize, newSize)));
}
for (int i=0; i<2; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
}
for (int i=0; i<5; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
}
for (int i=0; i<3; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10 - i * landingPadUnit * 5, landingPadUnit * 56, newSize, newSize)));
}
for (int i=0; i<2; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 51 - i * landingPadUnit * 5, newSize, newSize)));
}
for (int i=0; i<5; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 38 - i * landingPadUnit * 5, newSize, newSize)));
}
for (int i=0; i<2; i++) {
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(0, landingPadUnit * 10 - i * landingPadUnit * 5, newSize, newSize)));
}
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 23, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 33, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 33, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 23, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 18, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 38, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 38, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 18, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 5, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 51, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 51, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 10, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 46, landingPadUnit * 28, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 28, landingPadUnit * 46, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 10, landingPadUnit * 28, newSize, newSize)));
markerId = 90;
markerSize = landingPadUnit * 4 * 4;
borderSize = landingPadUnit * 4;
newSize = markerSize + borderSize * 2;
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
markerId += 1;
markerImg = create_marker_with_borders(dictionary, markerId, markerSize, borderBits, borderSize);
markerImg.copyTo(markerImgBIG(Rect(landingPadUnit * 5 + newSize + landingPadUnit * 4, landingPadUnit * 5 + newSize + landingPadUnit * 4, newSize, newSize)));
markerImg = Mat::ones(landingPadUnit * 64, landingPadUnit * 64, CV_8UC1) * 255;
markerImgBIG.copyTo(markerImg(Rect(landingPadUnit, landingPadUnit, landingPadUnit * 62, landingPadUnit * 62)));
}
if(showImage) {
imshow("marker", markerImg);
waitKey(0);
}
imwrite(out, markerImg);
return 0;
}